Corrected Slight Errors

C++ Strncpy Implementation from Jared Brogni for Pixy2 changeProg
SPILink Checksum calculation error
Pixy2CCC C++ Struct implementation typo

Author: Otake

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2.java

@@ -378,7 +378,6 @@ protected int receivePacket() {
 		res = getSync();
 		if (res < 0)
 			return res;
-
 		if (m_cs) {
 			res = link.receive(buffer, 4);
 			if (res < 0)
@@ -390,9 +389,9 @@ protected int receivePacket() {
 			csSerial = ((buffer[3] & 0xff) << 8) | (buffer[2] & 0xff);
 
 			res = link.receive(buffer, length, csCalc);
+
 			if (res < 0)
 				return res;
-
 			if (csSerial != csCalc.getChecksum())
 				return PIXY_RESULT_CHECKSUM_ERROR;
 		} else {
@@ -441,7 +440,10 @@ public byte changeProg(char[] prog) {
 		// poll for program to change
 		while (true) {
 			for (int i = 0; i < PIXY_MAX_PROGNAME; i++) {
-				bufferPayload[i] = (byte) prog[i];
+				if (i < prog.length)
+					bufferPayload[i] = (byte) prog[i];
+				else
+					bufferPayload[i] = Character.MIN_VALUE;
 			}
 			length = PIXY_MAX_PROGNAME;
 			type = PIXY_TYPE_REQUEST_CHANGE_PROG;

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2CCC.java

@@ -80,7 +80,6 @@ protected Pixy2CCC(Pixy2 pixy) {
 	 * @return Pixy2 error code
 	 */
 	public int getBlocks(boolean wait, int sigmap, int maxBlocks) {
-		blocks.clear();
 		long start = System.currentTimeMillis();
 
 		while (true) {
@@ -94,14 +93,15 @@ public int getBlocks(boolean wait, int sigmap, int maxBlocks) {
 			pixy.sendPacket();
 			if (pixy.receivePacket() == 0) {
 				if (pixy.type == CCC_RESPONSE_BLOCKS) {
-					for (int i = 0; (i + 1) * 14 < pixy.buffer.length; i++) {
-						Block b = new Block(((pixy.buffer[i * 8 + 1] & 0xff) << 8) | (pixy.buffer[i * 8] & 0xff),
-								((pixy.buffer[i * 8 + 3] & 0xff) << 8) | (pixy.buffer[i * 8 + 2] & 0xff),
-								((pixy.buffer[i * 8 + 5] & 0xff) << 8) | (pixy.buffer[i * 8 + 4] & 0xff),
-								((pixy.buffer[i * 8 + 7] & 0xff) << 8) | (pixy.buffer[i * 8 + 6] & 0xff),
-								((pixy.buffer[i * 8 + 9] & 0xff) << 8) | (pixy.buffer[i * 8 + 8] & 0xff),
-								(pixy.buffer[i * 8 + 11] << 8) | pixy.buffer[i * 8 + 10], pixy.buffer[i * 8 + 12],
-								pixy.buffer[i * 8 + 13]);
+					blocks = new ArrayList<Block>();
+					for (int i = 0; i + 13 < pixy.buffer.length; i += 14) {
+						Block b = new Block(((pixy.buffer[i + 1] & 0xff) << 8) | (pixy.buffer[i] & 0xff),
+								((pixy.buffer[i + 3] & 0xff) << 8) | (pixy.buffer[i + 2] & 0xff),
+								((pixy.buffer[i + 5] & 0xff) << 8) | (pixy.buffer[i + 4] & 0xff),
+								((pixy.buffer[i + 7] & 0xff) << 8) | (pixy.buffer[i + 6] & 0xff),
+								((pixy.buffer[i + 9] & 0xff) << 8) | (pixy.buffer[i + 8] & 0xff),
+								((pixy.buffer[i + 11] & 0xff) << 8) | (pixy.buffer[i + 10] & 0xff),
+								(pixy.buffer[i + 12] & 0xff), (pixy.buffer[i + 13] & 0xff));
 						blocks.add(b);
 					}
 					return blocks.size();
@@ -115,8 +115,9 @@ public int getBlocks(boolean wait, int sigmap, int maxBlocks) {
 					}
 
 				}
-			} else
+			} else {
 				return Pixy2.PIXY_RESULT_ERROR; // some kind of bitstream error
+			}
 			if (System.currentTimeMillis() - start > 500) {
 				return Pixy2.PIXY_RESULT_ERROR; // timeout to prevent lockup
 			}

src/main/java/io/github/pseudoresonance/pixy2api/links/SPILink.java

@@ -92,8 +92,8 @@ public int receive(byte[] buffer, int length, Checksum cs) {
 			cs.reset();
 		spi.read(false, buffer, length);
 		if (cs != null)
-			for (byte b : buffer) {
-				int csb = b & 0xff;
+			for (int i = 0; i < length; i++) {
+				int csb = buffer[i] & 0xff;
 				cs.updateChecksum(csb);
 			}
 		return length;